交互方向乗数法を用いた分散型マルチロボット通信考慮軌道計画
Optimal Distributed Multi-Robot Communication-Aware Trajectory Planning using Alternating Direction Method of Multipliers
マルチロボット系で通信品質と衝突回避を保証する軌道計画を、通信予算をロボット間で取引する経済的アプローチと合意ADMMにより分散的に解く手法を提案し、点検タスクのシミュレーションで検証した。
著者: Jeppe Heini Mikkelsen, Roberto Galeazzi, Matteo Fumagalli
分類: cs.RO
原文アブストラクト
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general optimisation framework that imposes linear constraints on changes in robot positions to ensure communication performance and collision avoidance. In this paper, the optimisation problem is solved distributively by separating the communication performance constraint through an economic approach. Here, the current communication budget is distributed equally among the robots, and the robots are allowed to trade parts of their budgets with each other. The separated optimisation problem is then solved using the consensus alternating direction method of multipliers. The method was verified through simulation in an inspection task problem.
